public void AddLocation(PartLocation p, string name)
{
var nl = new NamedLocation(p, name);
nl.PropertyChanged += new System.ComponentModel.PropertyChangedEventHandler(ChildPropertyChangedCallback);
_locations.Add(nl);
}
public Thing(PartLocation p, PointMode mode)
{
X = p.X;
Y = p.Y;
A = p.A;
pointMode = mode;
}
public bool CNC_XYA(PartLocation loc)
{
if (loc == null)
{
return(false);
}
return(CNC_XYZA(loc.X, loc.Y, loc.A));
}
/// <summary>
/// Returns a new list of points offset by X andd Y
/// </summary>
public static List <PartLocation> Offset(List <PartLocation> list, PartLocation offset_by)
{
var newlist = new List <PartLocation>(list.Count);
foreach (var x in list)
{
newlist.Add(new PartLocation(x.X + offset_by.X, x.Y + offset_by.Y, x.A + offset_by.A));
}
return(newlist);
}
/// <summary>
/// The furthest distance a fiducial moved
/// </summary>
/// <returns></returns>
public double MaxFiducialMovement()
{
Global.Instance.DisplayText(String.Format("Offset = {0} Angle = {1}", new PartLocation(Offset) - Global.Instance.Locations.GetLocation("PCB Zero"), Angle), System.Drawing.Color.Purple);
List <double> distances = new List <double>();
for (int i = 0; i < source.Count; i++)
{
var s = new PartLocation(source[i]);
var d = new PartLocation(dest[i]);
var m = Map(source[i]);
// Global.Instance.DisplayText(String.Format("Source {0} Dest {1} Mapped {2}", s, d, m), System.Drawing.Color.Purple);
distances.Add(Map(source[i]).DistanceTo(dest[i]));
}
return(distances.Max());
}
private bool CNC_MoveIsSafe_m(PartLocation p)
{
var m = Global.Instance.Locations.GetLocation("max machine");
if ((p.X < -3.0) || (p.X > m.X) || (p.Y < -3.0) || (p.Y > m.Y))
{
ShowSimpleMessageBox("Attempt to move outside safe limits " + p);
return(false);
}
if (_Zguard && IsNeedleDown())
{
//needle is down - instead of bitching, just move it up first
CNC_Z(0);
}
return(true);
}
public PartLocation Map2(PartLocation from)
{
if (ScaleX == 0 || ScaleY == 0)
{
throw new Exception("LeastSquareMapping not intialized");
}
var p = new PartLocation(from);
p.X = (from.X + OffsetX) * ScaleX;
// Why there's a -1 necessary here is beyond me but it works so
p.Y = (from.Y + OffsetY) * ScaleY - 1;
p.Rotate(Rotation_);
return(p);
}
public static PartLocation Convert(VideoProcessing videoProcessing, PartLocation p, PointMode fromMode, PointMode toMode)
{
Thing t = new Thing(p, fromMode);
t.videoProcessing = videoProcessing;
switch (toMode)
{
case PointMode.MM: return(t.ToMMResolution().ToPartLocation());
case PointMode.Raw: return(t.ToRawResolution().ToPartLocation());
case PointMode.Screen: return(t.ToScreenResolution().ToPartLocation());
case PointMode.ScreenUnzoomed: return(t.ToScreenUnzoomedResolution().ToPartLocation());
}
return(null);
}
/// <summary>
/// Map a source point to a destination point based on the calibrated inputs
/// </summary>
public PartLocation Map(PartLocation from)
{
if (Rotation == null || Offset == null)
{
throw new Exception("LeastSquareMapping not intialized");
}
var x = from.ToMatrix();
//var y = Rotation * x + Offset;
var y = (Rotation * (x - SourceCentroid)) + Offset + SourceCentroid; //shift point to center, apply rotation, then shift to the destination
var p = new PartLocation(y)
{
A = from.A + Angle
};
return(p);
}
public static T GetClosest <T>(List <T> list) where T : Shapes.Thing
{
if (list == null)
{
return(null);
}
list.RemoveAll(x => x == null);
if (list.Count == 0)
{
return(null);
}
foreach (var x in list)
{
x.ToMMResolution();
}
PartLocation centerPoint = new PartLocation(0, 0);
return(list.Aggregate((c, d) => c.DistanceFrom(centerPoint) < d.DistanceFrom(centerPoint) ? c : d));
}
public void TakePhotoOfPartAtCurrentLocation(TapeObj t)
{
if (t == null)
{
return;
}
var dir = Global.BaseDirectory + @"\images\";
Directory.CreateDirectory(dir);
var size = t.GetComponentSize();
if (size == null)
{
return;
}
var s = new PartLocation(size.Width, size.Height); //assumes 0 degree rotation
s = (1.5 * s) / MainForm.cameraView.downVideoProcessing.mmPerPixel; //convert to pixels and ad extra 25%
s.Rotate(t.PartAngle * Math.PI / 180d); //and rotate to final position
s.X = Math.Abs(s.X); //correct for sign changes
s.Y = Math.Abs(s.Y);
MainForm.cameraView.SetDownCameraFunctionSet("ComponentPhoto");
Global.DoBackgroundWork(); //let new images be processed
var topleft = MainForm.cameraView.downVideoProcessing.FrameCenter - (.5 * s);
var rect = new Rectangle(topleft.ToPoint(), s.ToSize());
var filter = new Crop(rect);
using (var image = MainForm.cameraView.downVideoProcessing.GetMeasurementFrame()) {
using (var cropped = filter.Apply(image)) {
var filename = dir + t.ID.Replace(" ", "_") + ".jpg";
if (File.Exists(filename))
{
File.Delete(filename);
}
cropped.Save(filename, ImageFormat.Jpeg);
t.TemplateFilename = filename;
}
}
}
public static void DoNeedleErrorMeasurement(VideoProcessing vp)
{
var cnc = Global.Instance.cnc;
var originalLocation = cnc.XYALocation;
PartLocation testLocation = Global.GoTo("Up Camera");
cnc.Zdown(Properties.Settings.Default.focus_height, true);
// setup camera
vp.SetFunctionsList("Needle");
vp.s.FindCircles = true;
vp.s.Draw1mmGrid = true;
var Needle = Global.Instance.needle;
List <PartLocation> offsetError = new List <PartLocation>();
for (int i = 0; i <= 360; i += 45)
{
testLocation.A = i;
var pp = testLocation - Needle.NeedleOffset;
Needle.Move_m(pp); // move to target
// mark erro
var circle = VideoDetection.GetClosestCircle(vp, 10);
if (circle != null)
{
vp.MarkA.Add(circle.ToScreenResolution().ToPartLocation().ToPointF());
circle.ToMMResolution();
offsetError.Add(circle.ToPartLocation());
}
Thread.Sleep(500); //wait 1 second
}
Global.Instance.mainForm.ShowSimpleMessageBox("Upcamera offset Error is " + PartLocation.Average(offsetError) + "\nMax Error is " + PartLocation.MaxValues(offsetError));
cnc.Zup();
cnc.CNC_XYA(originalLocation);
//revert to previous state
vp.Reset();
}
public bool Move_m(double X, double Y, double A)
{
double dX;
double dY;
if (!CorrectedPosition_m(A, out dX, out dY))
{
return(false);
}
var loc = new PartLocation(X, Y, A);
var wobble = new PartLocation(dX, dY, 0);
var dest = loc - wobble + NeedleOffset;
MainForm.DisplayText("== NEEDLE ==" + String.Format("pos {0} + offset {1} - wobble {2} = {3}", loc, NeedleOffset, wobble, dest), Color.ForestGreen);
return(Global.Instance.cnc.CNC_XYA(dest));
}
private static void DrawArrow(ref Bitmap image, List <Shapes.Arrow> arrows)
{
using (Image <Bgr, Byte> img = new Image <Bgr, byte>(image)) {
for (int j = 0; j < arrows.Count; j++)
{
var arrow = arrows[j];
var length = arrow.Length;
var loc = arrow.ToPartLocation();
var p = new Point[5];
int i = 0;
p[i++] = new PartLocation(0, 0).RotateDegrees(loc.A).FlipY().OffsetBy(loc).ToPoint();
p[i++] = new PartLocation(length, 0).RotateDegrees(loc.A).FlipY().OffsetBy(loc).ToPoint();
p[i++] = new PartLocation(length * .8f, length * .2f).RotateDegrees(loc.A).FlipY().OffsetBy(loc).ToPoint();
p[i++] = new PartLocation(length, 0).RotateDegrees(loc.A).FlipY().OffsetBy(loc).ToPoint();
p[i++] = new PartLocation(length * .8f, length * -.2f).RotateDegrees(loc.A).FlipY().OffsetBy(loc).ToPoint();
img.DrawPolyline(p, false, new Bgr(Color.OrangeRed), 2);
}
image = img.ToBitmap();
}
}
// Part Orientation = orientation if tape is perfectly oriented the way it is oriented
// deltaOrientation = how far offf the tape is from it's stated orientation
public PartLocation GetPartLocation(int componentNumber)
{
PartLocation part;
if (FirstPart != null)
{
part = GetPartBasedLocation(componentNumber);
}
else
{
var offset = new PartLocation(componentNumber * PartPitch + HoleToPartSpacingX, HoleToPartSpacingY);
// add the vector to the part rotated by the tape orientation
part = new PartLocation(FirstHole) + offset.Rotate(TapeOrientation.ToRadians());
}
// add deviation from expected orientation to part orientation
var deltaOrientation = tapeOrientation.ToRadians() - OriginalTapeOrientationVector.ToRadians();
part.A = (OriginalPartOrientationVector.ToRadians() + deltaOrientation) * 180d / Math.PI;
return(part);
}
public static PointF[] ToRotatedRectangle(Shapes.Rectangle s)
{
s.ToRawResolution();
PointF[] p = new PointF[5];
p[0].X = (float)s.Left; p[0].Y = (float)s.Top;
p[1].X = (float)s.Right; p[1].Y = (float)s.Top;
p[2].X = (float)s.Right; p[2].Y = (float)s.Bottom;
p[3].X = (float)s.Left; p[3].Y = (float)s.Bottom;
p[4].X = (float)s.Left; p[4].Y = (float)s.Top;
// roate about center
double angle = s.A * Math.PI / 180d;
PartLocation center = new PartLocation(s);
for (int i = 0; i < p.Length; i++)
{
PartLocation pp = new PartLocation(p[i]) - center; //shift to zero
pp = pp.Rotate(angle) + center;
p[i] = pp.ToPointF();
}
return(p);
}
private void calibrateXYmmRev_m(Button sender)
{
PartLocation loc = null;
switch (calibrateXYmmRevStage) {
case 0:
DialogResult dialogresult = ShowMessageBox("All down camera settings, travel settings and offsets will be reset", "Resetting Data", MessageBoxButtons.OKCancel);
if (dialogresult == DialogResult.Cancel) { return; }
// Reset all necessary values
tr1_textBox.Text = "40";
Cnc.CNC_Write_m("{\"1tr\":" + tr1_textBox.Text + "}");
Thread.Sleep(50);
tr2_textBox.Text = "40";
Cnc.CNC_Write_m("{\"2tr\":" + tr2_textBox.Text + "}");
Thread.Sleep(50);
SquareCorrection_textBox.Text = "0";
setting.CNC_SquareCorrection = 0;
CNC.SquareCorrection = 0;
instructions_label.Text = "Jog the machine to the center and place the measurement papers center dot under the camera";
instructions_label.Visible = true;
Cnc.CNC_Home_m("Z");
sender.Text = "Next";
sender.BackColor = Color.Yellow;
calibrateXYmmRevStage++;
break;
case 1:
if (Cnc.Simulation)
{
loc = new PartLocation();
loc = Cnc.XYLocation;
}
else
{
cameraView.SetDownCameraFunctionSet("homing");
cameraView.downSettings.FindCircles = true;
retryMidpoint:
loc = FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 2, .1);
if (loc == null)
{
ShowSimpleMessageBox("Error, middle point not found - try again");
return;
}
else
{
if (cameraView.ShowMessageBox("Please verify point placement. Is point found correctly?", "verification",
MessageBoxButtons.YesNo) == DialogResult.No) { goto retryMidpoint; }
}
}
calibrateAllStartingPoint = loc;
Cnc.CNC_XY(loc.X + 175, loc.Y);
instructions_label.Text = "Jog camera to the right edge of the circle only using the X axis";
calibrateXYmmRevStage++;
break;
case 2:
if (Cnc.XYLocation.Y != calibrateAllStartingPoint.Y ||
Cnc.XYLocation.X < calibrateAllStartingPoint.X)
{
ShowSimpleMessageBox("Y axis moved or X axis more negative than starting point - try again");
Cnc.CNC_XY(loc.X + 175, loc.Y);
return;
}
calibrateAllEdgeX = Cnc.XYLocation;
Cnc.CNC_XY(calibrateAllStartingPoint.X, calibrateAllStartingPoint.Y + 175);
instructions_label.Text = "Jog camera to the top edge of the circle only using the Y axis";
calibrateXYmmRevStage++;
break;
case 3:
if (Cnc.XYLocation.X != calibrateAllStartingPoint.X ||
Cnc.XYLocation.Y < calibrateAllStartingPoint.Y)
{
ShowSimpleMessageBox("X axis moved or Y axis more negative than starting point - try again");
Cnc.CNC_XY(calibrateAllStartingPoint.X, calibrateAllStartingPoint.Y + 175);
return;
}
calibrateAllEdgeY = Cnc.XYLocation;
double xStep, yStep;
xStep = calibrateAllEdgeX.X / (calibrateAllStartingPoint.X + 175) * 40;
yStep = calibrateAllEdgeY.Y / (calibrateAllStartingPoint.Y + 175) * 40;
instructions_label.Text = "The calculated xStep is " + Math.Round(xStep, 2).ToString() +
" mm/rev, the calculated Y step is " + Math.Round(yStep, 2).ToString() +
" mm/rev";
tr1_textBox.Text = xStep.ToString();
Cnc.CNC_Write_m("{\"1tr\":" + tr1_textBox.Text + "}");
Thread.Sleep(50);
tr2_textBox.Text = yStep.ToString();
Cnc.CNC_Write_m("{\"2tr\":" + tr2_textBox.Text + "}");
Thread.Sleep(50);
calibrateXYmmRevStage = 0;
break;
}
}
public void Recomputer3()
{
// calculate centroids
int fiducialCount = 0;
List<PartLocation> sourceFiducials = new List<PartLocation>();
List<PartLocation> destFiducials = new List<PartLocation>();
PartLocation tempDest;
foreach (var fiducial in source.Where(part => part.physicalComponent.IsFiducial).ToArray())
{
sourceCentroidX += fiducial.physicalComponent.X_nominal;
sourceCentroidY += fiducial.physicalComponent.Y_nominal;
sourceFiducials.Add(fiducial);
tempDest = dest[source.IndexOf(fiducial)];
if (tempDest.physicalComponent != null) {
destCentroidX += tempDest.physicalComponent.X_machine;
destCentroidY += tempDest.physicalComponent.Y_machine;
} else {
destCentroidX += tempDest.X;
destCentroidY += tempDest.Y;
}
destFiducials.Add(tempDest);
fiducialCount++;
}
sourceCentroidX /= fiducialCount;
sourceCentroidY /= fiducialCount;
destCentroidX /= fiducialCount;
destCentroidY /= fiducialCount;
OffsetX = -sourceCentroidX + destCentroidX;
OffsetY = -sourceCentroidY + destCentroidY;
List <double> destRotation = new List<double>();
List <double> sourceRotation = new List<double>();
List <double> destOffset = new List<double>();
List <double> sourceOffset = new List<double>();
List <double> scale = new List<double>();
List<double> rotationOffset = new List<double>();
ScaleX = 0; ScaleY = 0; Rotation_ = 0;
// Calculate offsets from centroids, rotation from source to destination and scale difference
PartLocation sourceFiducial = null, destFiducial = null;
for (int i=0; i<fiducialCount; i++) {
sourceFiducial = sourceFiducials.ElementAt(i);
destFiducial = destFiducials.ElementAt(i);
/*
sourceOffset.Add(Math.Sqrt(Math.Pow(sourceFiducial.X -
sourceCentroidX, 2) + Math.Pow(sourceFiducial.Y -
sourceCentroidY, 2)));
destOffset.Add(Math.Sqrt(Math.Pow(destFiducial.X -
destCentroidX, 2) + Math.Pow(destFiducial.Y -
destCentroidY, 2)));
*/
/*
sourceRotation.Add(Math.Asin((sourceFiducial.Y - sourceCentroidY) /
sourceOffset[i]));
if ((sourceFiducial.X - sourceCentroidX) < 0) {
sourceRotation[i] = Math.PI - sourceRotation[i]; }
if (sourceRotation[i] < 0) { sourceRotation[i] += Math.PI * 2; }
destRotation.Add(Math.Asin((destFiducial.Y - destCentroidY) /
destOffset[i]));
if ((destFiducial.X - destCentroidX) < 0) {
destRotation[i] = Math.PI - destRotation[i]; }
if (destRotation[i] < 0) { destRotation[i] += Math.PI * 2; }
*/
sourceRotation.Add(Math.Atan2(sourceFiducial.Y - sourceCentroidY,
sourceFiducial.X - sourceCentroidX));
destRotation.Add(Math.Atan2(destFiducial.Y - destCentroidY,
destFiducial.X - destCentroidX));
rotationOffset.Add(destRotation[i] - sourceRotation[i]);
//scale.Add(destOffset[i] / sourceOffset[i]);
Rotation_ += rotationOffset[i];
ScaleX += (destFiducial.X - destCentroidX) / (sourceFiducial.X - sourceCentroidX);
ScaleY += (destFiducial.Y - destCentroidY) / (sourceFiducial.Y - sourceCentroidY);
}
Rotation_ /= fiducialCount;
ScaleX /= fiducialCount;
ScaleY /= fiducialCount;
var p = new PartLocation();
double xFid, yFid;
foreach (PartLocation fiducial in sourceFiducials)
{
p.X = (fiducial.X - sourceCentroidX) * ScaleX;
p.Y = (fiducial.Y - sourceCentroidY) * ScaleY;
p.Rotate(Rotation_);
p.X += sourceCentroidX + OffsetX;
p.Y += sourceCentroidY + OffsetY;
}
}
public PartLocation(PartLocation p)
{
X = p.X; Y = p.Y; A = p.A;
}
public Thing AddOffset(PartLocation p)
{
X += p.X; Y += p.Y; A += p.A;
return(this);
}
public static PointF[] ToRotatedRectangle(Shapes.Rectangle s)
{
s.ToRawResolution();
PointF[] p = new PointF[5];
p[0].X = (float)s.Left; p[0].Y = (float)s.Top;
p[1].X = (float)s.Right; p[1].Y = (float)s.Top;
p[2].X = (float)s.Right; p[2].Y = (float)s.Bottom;
p[3].X = (float)s.Left; p[3].Y = (float)s.Bottom;
p[4].X = (float)s.Left; p[4].Y = (float)s.Top;
// roate about center
double angle = s.A * Math.PI / 180d;
PartLocation center = new PartLocation(s);
for (int i = 0; i < p.Length; i++) {
PartLocation pp = new PartLocation(p[i]) - center; //shift to zero
pp = pp.Rotate(angle) + center;
p[i] = pp.ToPointF();
}
return p;
}
public PartLocation SetTo(PartLocation p)
{
X = p.X; Y = p.Y; A = p.A; return(this);
}
public Rectangle(PartLocation p, Size s) : base(p.X, p.Y)
{
Height = s.Height; Width = s.Width;
}
public PartLocation OffsetBy(PartLocation p)
{
X += p.X; Y += p.Y; A += p.A; return this;
}
public PartLocation SetTo(PartLocation p)
{
X = p.X; Y = p.Y; A = p.A; return this;
}
/// <summary>
/// Returns a new list of points offset by X andd Y
/// </summary>
public static List<PartLocation> Offset(List<PartLocation> list, PartLocation offset_by)
{
var newlist = new List<PartLocation>(list.Count);
foreach (var x in list) {
newlist.Add(new PartLocation(x.X + offset_by.X, x.Y + offset_by.Y, x.A + offset_by.A));
}
return newlist;
}
public double DistanceTo(PartLocation p)
{
return Math.Sqrt(Math.Pow(X - p.X, 2) + Math.Pow(Y - p.Y, 2));
}
/*------------ STATIC METHODS ------------------*/
public static double MeasureSlope(PartLocation[] list)
{
// Fit to linear regression // y:x->a+b*x
Double[] Xs = list.Select(xx => xx.X).ToArray();
Double[] Ys = list.Select(xx => xx.Y).ToArray();
Tuple<double, double> result = SimpleRegression.Fit(Xs, Ys);
//x.a = result.Item1; //this should be as close to zero as possible if things worked correctly
return result.Item2; //this represents the slope of the tape
}
public PartLocation OffsetBy(PartLocation p)
{
X += p.X; Y += p.Y; A += p.A; return(this);
}
public NamedLocation(PartLocation p, string name) : base(p)
{
Name = name;
}
private void calibrateXYZcompensation()
{
PartLocation loc = null;
retryAll:
cameraView.SetDownCameraFunctionSet("");
ZCorrectionX.Text = "0";
ZCorrectionY.Text = "0";
ZCorrectionDeltaZ.Text = "0";
UpdateZCorrection();
instructions_label.Text = "Calibrating Z dependent X/Y offset";
Cnc.CNC_Z(0);
Cnc.CNC_XY(calibrateAllStartingPoint);
if (!Cnc.Simulation)
{
cameraView.SetDownCameraFunctionSet("homing");
cameraView.downSettings.FindCircles = true;
retryMidPoint:
loc = FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 2, .1);
if (loc == null)
{
ShowSimpleMessageBox("Error, middle point not found - try again");
return;
}
if (cameraView.ShowMessageBox("Please verify point placement. Is point found correctly?", "verification",
MessageBoxButtons.YesNo) == DialogResult.No) { goto retryMidPoint; }
calibrateAllStartingPoint = new PartLocation();
calibrateAllStartingPoint.X = Cnc.TrueX;
calibrateAllStartingPoint.Y = Cnc.CurrentY;
}
Cnc.CNC_Z(Properties.Settings.Default.ZDistanceToTable -
Properties.Settings.Default.General_ProbingBackOff);
Cnc.ZGuardOff();
if (Cnc.Simulation)
{
loc = new PartLocation();
loc.X = calibrateAllStartingPoint.X + 1;
loc.Y = calibrateAllStartingPoint.Y - 1;
}
else
{
cameraView.SetDownCameraFunctionSet("homing");
cameraView.downSettings.FindCircles = true;
retryMidPointAgain:
for (int i = 0; i < 8; i++)
{
loc = FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 1.5, .05);
if (loc != null) break;
}
if (loc == null)
{
ShowSimpleMessageBox("Error, middle point not found - try again");
return;
}
if (cameraView.ShowMessageBox("Please verify point placement. Is point found correctly?", "verification",
MessageBoxButtons.YesNo) == DialogResult.No) { goto retryMidPointAgain; }
Cnc.ZGuardOn();
}
ZCorrectionX.Text = (Cnc.TrueX - calibrateAllStartingPoint.X).ToString();
ZCorrectionY.Text = (Cnc.CurrentY - calibrateAllStartingPoint.Y).ToString();
ZCorrectionDeltaZ.Text = (Properties.Settings.Default.ZDistanceToTable -
Properties.Settings.Default.General_ProbingBackOff).ToString();
UpdateZCorrection();
Cnc.CNC_Z(0);
instructions_label.Text = "";
instructions_label.Visible = false;
if (!Cnc.Simulation)
{
cameraView.SetDownCameraFunctionSet("homing");
cameraView.downSettings.FindCircles = true;
retryMidPoint3:
loc = FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 2, .1);
if (loc == null)
{
ShowSimpleMessageBox("Error, middle point not found - try again");
return;
}
if (cameraView.ShowMessageBox("Please verify point placement. Is point found correctly?", "verification",
MessageBoxButtons.YesNo) == DialogResult.No) { goto retryMidPoint3; }
calibrateAllStartingPoint = loc;
}
setNeedleAtCameraPosition();
Cnc.CNC_Z(Properties.Settings.Default.ZDistanceToTable -
Properties.Settings.Default.General_ProbingBackOff);
if (cameraView.ShowMessageBox("Please verify touchdown point. Is point found correctly?", "verification",
MessageBoxButtons.YesNo) == DialogResult.No) { goto retryAll; }
Cnc.CNC_Z(0);
}
public PartLocation(PartLocation p)
{
X = p.X; Y = p.Y; A = p.A;
}
public PartLocation Map2(PartLocation from)
{
if (ScaleX == 0 || ScaleY == 0) throw new Exception("LeastSquareMapping not intialized");
var p = new PartLocation(from);
p.X = (from.X + OffsetX) * ScaleX;
// Why there's a -1 necessary here is beyond me but it works so
p.Y = (from.Y + OffsetY) * ScaleY - 1;
p.Rotate(Rotation_);
return p;
}
public bool Move_m(PartLocation p)
{
return(Move_m(p.X, p.Y, p.A));
}
public Rectangle(PartLocation p) : base(p.X, p.Y)
{
}
public bool PopulateAvailableParts(TapeObj x)
{
if (x.FirstHole == null) return false; // currently only handling hole-calibrated harts
MainForm.Cnc.SlackCompensation = false;
SetCurrentTapeMeasurement(x.TapeType);
//find out the max number of parts
int i = 0;
PartLocation loc;
PartLocation addloc = new PartLocation(x.HoleToPartSpacingX, x.HoleToPartSpacingY).Rotate(x.TapeOrientation.ToRadians());
x.AvailableParts.Clear();
while (true) {
loc = x.GetHoleLocation(i);
if (!MainForm.Cnc.CNC_XY(loc)) { MainForm.Cnc.SlackCompensation = true; return false; }
var thing = VideoDetection.FindClosest(MainForm.cameraView.downVideoProcessing, Shapes.ShapeTypes.Circle, 1, 3);
if (thing == null) break;
if (x.TemplateFilename == null || !File.Exists(x.TemplateFilename))
{
loc += addloc;
x.AvailableParts.Add(new NamedLocation(loc, i.ToString()));
Global.Instance.mainForm.DisplayText("Adding part "+ i.ToString() +" to "+x.ID);
}
if (Cnc.AbortPlacement) { MainForm.Cnc.SlackCompensation = true; return false; }
i++;
}
if (x.TemplateFilename == null || !File.Exists(x.TemplateFilename) && i>0) return true;
MainForm.cameraView.SetDownCameraFunctionSet("ComponentPhoto");
double len = i * x.HolePitch;
double max_components = len / x.PartPitch + 2;
var list = x.AvailableParts;
list.Clear();
if (!MainForm.Cnc.CNC_XY(x.GetPartLocation(0))) { MainForm.Cnc.SlackCompensation = true; return false; } //start off with first part
for (i = 0; i < max_components; i++) {
if (Cnc.AbortPlacement) { MainForm.Cnc.SlackCompensation = true; return false; }
var location = MainForm.FindPositionAndMoveToClosest(Shapes.ShapeTypes.Fiducial, 1, .1, x.TemplateFilename, .5);
if (location != null) {
list.Add(new NamedLocation(location, i.ToString()));
if (!MainForm.Cnc.CNC_XY(location + new PartLocation(x.PartPitch, 0).Rotate(x.TapeAngle * Math.PI / 180))) {
MainForm.Cnc.SlackCompensation = true;
return false;
}
} else {
if (!MainForm.Cnc.CNC_XY(Cnc.XYLocation + new PartLocation(x.PartPitch, 0).Rotate(x.TapeAngle * Math.PI / 180))) {
MainForm.Cnc.SlackCompensation = true;
return false;
}
}
}
Global.Instance.mainForm.DisplayText("Detected "+list.Count+" parts for "+x.ID+" ("+String.Join(" ",list)+")");
MainForm.Cnc.SlackCompensation = true;
return true;
}
public Arrow(PartLocation pl, double length) : base(pl, PointMode.Screen)
{
Length = length;
}
public bool Move_m(PartLocation p)
{
return Move_m(p.X, p.Y, p.A);
}
private static void DrawArrow(ref Bitmap image, List<Shapes.Arrow> arrows)
{
using (Image<Bgr, Byte> img = new Image<Bgr, byte>(image)) {
for (int j = 0; j < arrows.Count; j++) {
var arrow = arrows[j];
var length = arrow.Length;
var loc = arrow.ToPartLocation();
var p = new Point[5];
int i = 0;
p[i++] = new PartLocation(0, 0).RotateDegrees(loc.A).FlipY().OffsetBy(loc).ToPoint();
p[i++] = new PartLocation(length, 0).RotateDegrees(loc.A).FlipY().OffsetBy(loc).ToPoint();
p[i++] = new PartLocation(length * .8f, length * .2f).RotateDegrees(loc.A).FlipY().OffsetBy(loc).ToPoint();
p[i++] = new PartLocation(length, 0).RotateDegrees(loc.A).FlipY().OffsetBy(loc).ToPoint();
p[i++] = new PartLocation(length * .8f, length * -.2f).RotateDegrees(loc.A).FlipY().OffsetBy(loc).ToPoint();
img.DrawPolyline(p, false, new Bgr(Color.OrangeRed), 2);
}
image = img.ToBitmap();
}
}
public PartLocation Map2(PartLocation from)
{
if (ScaleX == 0 || ScaleY == 0) throw new Exception("LeastSquareMapping not intialized");
var p = new PartLocation(from);
//(Rotation * (x - SourceCentroid)) + Offset + SourceCentroid;
/*
p.X = (from.X + OffsetX) * ScaleX; // -0.5;
p.Y = (from.Y + OffsetY) * ScaleY; // -1;
p.Rotate(Rotation_);
*/
p.X = (from.X - sourceCentroidX) * ScaleX;
p.Y = (from.Y - sourceCentroidY) * ScaleY;
p.Rotate(Rotation_);
p.X += sourceCentroidX + OffsetX;
p.Y += sourceCentroidY + OffsetY;
// double check this
p.A = from.A + Angle;
return p;
}
public NamedLocation(PartLocation p, string name)
: base(p)
{
Name = name;
}
private static PartLocation DoCameraCalibration(VideoProcessing vp, PartLocation movement)
{
var cnc = Global.Instance.cnc;
var distance = new List <PartLocation>();
var pixels = new List <PartLocation>();
// turn on slack compensation
var savedSlackCompensation = cnc.SlackCompensation;
cnc.SlackCompensation = true;
var startingPos = cnc.XYLocation;
startingPos.A = 0;
vp.MarkA.Clear();
for (int i = -4; i < 5; i++)
{
//move
var newLocation = startingPos + (i * movement);
if (!cnc.CNC_XYA(newLocation))
{
return(null);
}
//try 5 times to find a circle
List <Shapes.Circle> circles = new List <Shapes.Circle>();
for (int tries = 5; tries > 0 && circles.Count == 0; tries--)
{
circles = VideoDetection.FindCircles(vp);
}
if (circles.Count == 0)
{
continue; //not found, move and try again
}
//find largest circle of the bunch
var circle = circles.Aggregate((c, d) => c.Radius > d.Radius ? c : d); //find largest circle if we have multiple
// var circlePL = (1 / zoom) * circle.ToPartLocation(); //compensate for zoom
circle.ToScreenUnzoomedResolution();
distance.Add(newLocation);
pixels.Add(circle.ToPartLocation());
vp.MarkA.Add(circle.Clone().ToScreenResolution().ToPartLocation().ToPointF());
//DisplayText(String.Format("Actual Loc = {0}\t Measured Loc = {1}", newLocation, UpCamera.PixelsToActualLocation(circlePL)), Color.Blue);
}
double XmmPerPixel = 0, YmmPerPixel = 0;
if (pixels.Count < 2)
{
Global.Instance.mainForm.ShowMessageBox("Unable To Detect Circles",
"Try to adjust upcamera processing to see circles, and ensure upcamera needle position is correctly configured",
MessageBoxButtons.OK);
}
else
{
// Do regression on X and Y
var Xs = pixels.Select(xx => xx.X).ToArray();
var Ys = distance.Select(xx => xx.X).ToArray();
var result = SimpleRegression.Fit(Xs, Ys);
XmmPerPixel = result.Item2;
Xs = pixels.Select(xx => xx.Y).ToArray();
Ys = distance.Select(xx => xx.Y).ToArray();
result = SimpleRegression.Fit(Xs, Ys);
YmmPerPixel = result.Item2;
Global.Instance.DisplayText(String.Format("{0} Xmm/pixel {1} Ymm/pixel", XmmPerPixel, YmmPerPixel), Color.Purple);
// Now move to the center
/* need to get gotolocation upcamera working still
* double X, Y; //error offset
* GotoUpCamPosition_button_Click(null, null);
* for (int tries = 5; tries > 0; tries--) {
* if (GoToLocation_m(UpCamera, Shapes.ShapeTypes.Circle, 1.8, 0.5, out X, out Y)) {
* Properties.Settings.Default.UpCam_PositionX = Cnc.CurrentX + X;
* Properties.Settings.Default.UpCam_PositionY = Cnc.CurrentY - Y;
* UpcamPositionX_textBox.Text = Properties.Settings.Default.UpCam_PositionX.ToString("0.00", CultureInfo.InvariantCulture);
* UpcamPositionY_textBox.Text = Properties.Settings.Default.UpCam_PositionY.ToString("0.00", CultureInfo.InvariantCulture);
*
* }
* }
*/
}
//restore settings
cnc.SlackCompensation = savedSlackCompensation;
vp.MarkA.Clear();
//return value
return((pixels.Count < 2) ? null : new PartLocation(Math.Abs(XmmPerPixel), Math.Abs(YmmPerPixel)));
}
private static PartLocation DoCameraCalibration(VideoProcessing vp, PartLocation movement)
{
var cnc = Global.Instance.cnc;
var distance = new List<PartLocation>();
var pixels = new List<PartLocation>();
// turn on slack compensation
var savedSlackCompensation = cnc.SlackCompensation;
cnc.SlackCompensation = true;
var startingPos = cnc.XYLocation;
startingPos.A = 0;
vp.MarkA.Clear();
for (int i = -4; i < 5; i++) {
//move
var newLocation = startingPos + (i * movement);
if (!cnc.CNC_XYA(newLocation)) return null;
//try 5 times to find a circle
List<Shapes.Circle> circles = new List<Shapes.Circle>();
for (int tries = 5; tries > 0 && circles.Count == 0; tries--)
circles = VideoDetection.FindCircles(vp);
if (circles.Count == 0) continue; //not found, move and try again
//find largest circle of the bunch
var circle = circles.Aggregate((c, d) => c.Radius > d.Radius ? c : d); //find largest circle if we have multiple
// var circlePL = (1 / zoom) * circle.ToPartLocation(); //compensate for zoom
circle.ToScreenUnzoomedResolution();
distance.Add(newLocation);
pixels.Add(circle.ToPartLocation());
vp.MarkA.Add(circle.Clone().ToScreenResolution().ToPartLocation().ToPointF());
//DisplayText(String.Format("Actual Loc = {0}\t Measured Loc = {1}", newLocation, UpCamera.PixelsToActualLocation(circlePL)), Color.Blue);
}
double XmmPerPixel = 0, YmmPerPixel = 0;
if (pixels.Count < 2) {
Global.Instance.mainForm.ShowMessageBox("Unable To Detect Circles",
"Try to adjust upcamera processing to see circles, and ensure upcamera needle position is correctly configured",
MessageBoxButtons.OK);
} else {
// Do regression on X and Y
var Xs = pixels.Select(xx => xx.X).ToArray();
var Ys = distance.Select(xx => xx.X).ToArray();
var result = SimpleRegression.Fit(Xs, Ys);
XmmPerPixel = result.Item2;
Xs = pixels.Select(xx => xx.Y).ToArray();
Ys = distance.Select(xx => xx.Y).ToArray();
result = SimpleRegression.Fit(Xs, Ys);
YmmPerPixel = result.Item2;
Global.Instance.DisplayText(String.Format("{0} Xmm/pixel {1} Ymm/pixel", XmmPerPixel, YmmPerPixel), Color.Purple);
// Now move to the center
/* need to get gotolocation upcamera working still
double X, Y; //error offset
GotoUpCamPosition_button_Click(null, null);
for (int tries = 5; tries > 0; tries--) {
if (GoToLocation_m(UpCamera, Shapes.ShapeTypes.Circle, 1.8, 0.5, out X, out Y)) {
Properties.Settings.Default.UpCam_PositionX = Cnc.CurrentX + X;
Properties.Settings.Default.UpCam_PositionY = Cnc.CurrentY - Y;
UpcamPositionX_textBox.Text = Properties.Settings.Default.UpCam_PositionX.ToString("0.00", CultureInfo.InvariantCulture);
UpcamPositionY_textBox.Text = Properties.Settings.Default.UpCam_PositionY.ToString("0.00", CultureInfo.InvariantCulture);
}
}
*/
}
//restore settings
cnc.SlackCompensation = savedSlackCompensation;
vp.MarkA.Clear();
//return value
return (pixels.Count < 2) ? null : new PartLocation(Math.Abs(XmmPerPixel), Math.Abs(YmmPerPixel));
}
public void AddLocation(PartLocation p, string name)
{
var nl = new NamedLocation(p, name);
nl.PropertyChanged += new System.ComponentModel.PropertyChangedEventHandler(ChildPropertyChangedCallback);
_locations.Add(nl);
}
public void TakePhotoOfPartAtCurrentLocation(TapeObj t)
{
if (t == null) return;
var dir = Global.BaseDirectory + @"\images\";
Directory.CreateDirectory(dir);
var size = t.GetComponentSize();
if (size == null) return;
var s = new PartLocation(size.Width, size.Height); //assumes 0 degree rotation
s = (1.5 * s) / MainForm.cameraView.downVideoProcessing.mmPerPixel; //convert to pixels and ad extra 25%
s.Rotate(t.PartAngle * Math.PI / 180d); //and rotate to final position
s.X = Math.Abs(s.X); //correct for sign changes
s.Y = Math.Abs(s.Y);
MainForm.cameraView.SetDownCameraFunctionSet("ComponentPhoto");
Global.DoBackgroundWork(); //let new images be processed
var topleft = MainForm.cameraView.downVideoProcessing.FrameCenter - (.5 * s);
var rect = new Rectangle(topleft.ToPoint(), s.ToSize());
var filter = new Crop(rect);
using (var image = MainForm.cameraView.downVideoProcessing.GetMeasurementFrame()) {
using (var cropped = filter.Apply(image)) {
var filename = dir + t.ID.Replace(" ", "_") + ".jpg";
if (File.Exists(filename)) File.Delete(filename);
cropped.Save(filename, ImageFormat.Jpeg);
t.TemplateFilename = filename;
}
}
}
public PartLocation GetNextComponentPartLocation(TapeObj tapeObj)
{
if (tapeObj == null)
{
return(null);
}
MainForm.DisplayText("GotoNextPart_m(), tape id: " + tapeObj.ID);
//Load & Parse Data
if (!tapeObj.IsFullyCalibrated)
{
MainForm.ShowSimpleMessageBox("Tape " + tapeObj.ID + " is not yet calibrated. Please do so and retry");
return(null);
}
PartLocation targetLocation = tapeObj.GetCurrentPartLocation();
MainForm.DisplayText("Part " + tapeObj.CurrentPartIndex() + " Source Location = " + targetLocation, Color.Blue);
// see if part exists for part based detection
if (tapeObj.TemplateBased)
{
Global.Instance.mainForm.cameraView.DownCameraReset();
if (!MainForm.Cnc.CNC_XY(targetLocation))
{
return(null);
}
var thing = MainForm.GoToClosestThing(Shapes.ShapeTypes.Fiducial, 1, .2, null, tapeObj.TemplateFilename, .75);
if (thing == null)
{
MainForm.DisplayText("No Part Detected At This Location", Color.Red);
return(null);
}
MainForm.DisplayText("Part Detected : " + thing);
}
if (tapeObj.IsLocationBased)
{
targetLocation = GetLocationBasedComponent(tapeObj);
}
else
// enhanced part detection
if (tapeObj.FirstHole != null)
{
SetCurrentTapeMeasurement(tapeObj.TapeType);
Cnc.CNC_XY(tapeObj.GetNearestCurrentPartHole());
var hole = MainForm.GoToClosestThing(Shapes.ShapeTypes.Circle, 1.5, .1);
if (hole == null)
{
MainForm.DisplayText("Unable to detect part hole, aborting");
return(null);
}
var offset = tapeObj.GetCurrentPartLocation() - tapeObj.GetNearestCurrentPartHole();
targetLocation = hole.ToPartLocation() + offset;
MainForm.cameraView.DownCameraReset();
}
//------------------- PART SPECIFIC LOGIC GOES HERE --------------------//
if (tapeObj.PartType == "QFN")
{
MainForm.DisplayText("USING ENHANCE PART PICKUP", Color.HotPink);
if (!MainForm.Cnc.CNC_XY(targetLocation))
{
return(null);
}
// setup view
SetCurrentTapeMeasurement(tapeObj.TapeType);
MainForm.cameraView.downSettings.FindRectangles = true;
// MainForm.cameraView.downVideoProcessing.FindRectangles = true;
// move closer and get exact coordinates plus rotation
var rect = (Shapes.Rectangle)MainForm.GoToClosestThing(Shapes.ShapeTypes.Rectangle, 1.5, .025);
if (rect == null)
{
MainForm.cameraView.DownCameraReset();
return(null);
}
Global.DoBackgroundWork(500);
var rectAngle = rect.AngleOffsetFrom90();
targetLocation = rect.ToPartLocation();
targetLocation.A = tapeObj.OriginalPartOrientationVector.ToDegrees() + rectAngle;
MainForm.cameraView.DownCameraReset();
}
return(targetLocation);
}
public bool Move_m(double X, double Y, double A)
{
double dX;
double dY;
if (!CorrectedPosition_m(A, out dX, out dY)) return false;
var loc = new PartLocation(X, Y, A);
var wobble = new PartLocation(dX, dY, 0);
var dest = loc - wobble + NeedleOffset;
MainForm.DisplayText("== NEEDLE ==" + String.Format("pos {0} + offset {1} - wobble {2} = {3}", loc, NeedleOffset, wobble, dest), Color.ForestGreen);
return Global.Instance.cnc.CNC_XYA(dest);
}
/// <summary>
/// Map a source point to a destination point based on the calibrated inputs
/// </summary>
public PartLocation Map(PartLocation from)
{
if (Rotation == null || Offset == null) throw new Exception("LeastSquareMapping not intialized");
var x = from.ToMatrix();
var y = (Rotation * (x - SourceCentroid)) + Offset + SourceCentroid; //shift point to center, apply rotation, then shift to the destination
var p = new PartLocation(y) {A = from.A + Angle};
return p;
}
public Arrow(PartLocation pl, double length)
: base(pl, PointMode.Screen)
{
Length = length;
}
public void Recomputer3()
{
// calculate centroids
double sourceCentroidX = 0, sourceCentroidY = 0, destCentroidX = 0, destCentroidY = 0;
int fiducialCount = 0;
List <PartLocation> sourceFiducials = new List <PartLocation>();
List <PartLocation> destFiducials = new List <PartLocation>();
PartLocation tempDest;
foreach (var fiducial in source.Where(part => part.physicalComponent.IsFiducial).ToArray())
{
sourceCentroidX += fiducial.physicalComponent.X_nominal;
sourceCentroidY += fiducial.physicalComponent.Y_nominal;
sourceFiducials.Add(fiducial);
tempDest = dest[source.IndexOf(fiducial)];
if (tempDest.physicalComponent != null)
{
destCentroidX += tempDest.physicalComponent.X_machine;
destCentroidY += tempDest.physicalComponent.Y_machine;
}
else
{
destCentroidX += tempDest.X;
destCentroidY += tempDest.Y;
}
destFiducials.Add(tempDest);
fiducialCount++;
}
sourceCentroidX /= fiducialCount;
sourceCentroidY /= fiducialCount;
destCentroidX /= fiducialCount;
destCentroidY /= fiducialCount;
OffsetX = -sourceCentroidX + destCentroidX;
OffsetY = -sourceCentroidY + destCentroidY;
List <double> destRotation = new List <double>();
List <double> sourceRotation = new List <double>();
List <double> destOffset = new List <double>();
List <double> sourceOffset = new List <double>();
List <double> scale = new List <double>();
List <double> rotationOffset = new List <double>();
ScaleX = 0; ScaleY = 0; Rotation_ = 0;
// Calculate offsets from centroids, rotation from source to destination and scale difference
PartLocation sourceFiducial = null, destFiducial = null;
for (int i = 0; i < fiducialCount; i++)
{
sourceFiducial = sourceFiducials.ElementAt(i);
destFiducial = destFiducials.ElementAt(i);
sourceOffset.Add(Math.Sqrt(Math.Pow(sourceFiducial.X -
sourceCentroidX, 2) + Math.Pow(sourceFiducial.Y -
sourceCentroidY, 2)));
destOffset.Add(Math.Sqrt(Math.Pow(destFiducial.X -
destCentroidX, 2) + Math.Pow(destFiducial.Y -
destCentroidY, 2)));
sourceRotation.Add(Math.Asin((sourceFiducial.Y - sourceCentroidY) /
sourceOffset[i]));
if ((sourceFiducial.X - sourceCentroidX) < 0)
{
sourceRotation[i] = Math.PI - sourceRotation[i];
}
if (sourceRotation[i] < 0)
{
sourceRotation[i] += Math.PI * 2;
}
destRotation.Add(Math.Asin((destFiducial.Y - destCentroidY) /
destOffset[i]));
if ((destFiducial.X - destCentroidX) < 0)
{
destRotation[i] = Math.PI - destRotation[i];
}
if (destRotation[i] < 0)
{
destRotation[i] += Math.PI * 2;
}
rotationOffset.Add(destRotation[i] - sourceRotation[i]);
scale.Add(destOffset[i] / sourceOffset[i]);
Rotation_ += rotationOffset[i];
ScaleX += (destFiducial.X - destCentroidX) / (sourceFiducial.X - sourceCentroidX);
ScaleY += (destFiducial.Y - destCentroidY) / (sourceFiducial.Y - sourceCentroidY);
}
Rotation_ /= fiducialCount;
ScaleX /= fiducialCount;
ScaleY /= fiducialCount;
}
private void UpClickDelegate(double x, double y, int rawx, int rawy) {
var offset = new PartLocation(x, y);
Cnc.CNC_XY(Cnc.XYLocation + (cameraView.upVideoProcessing.mmPerPixel * offset));
}
public bool CNC_XYA(PartLocation loc)
{
if (loc==null) return false; return CNC_XYZA(loc.X, loc.Y, loc.A);
}
private void calibrateSkew_m()
{
PartLocation loc = null;
retrySkew:
SquareCorrection_textBox.Text = "0";
setting.CNC_SquareCorrection = 0;
CNC.SquareCorrection = 0;
instructions_label.Text = "Finding center dot";
Cnc.CNC_XY(calibrateAllStartingPoint);
if (Cnc.Simulation)
{
loc = Cnc.XYLocation;
}
else
{
cameraView.SetDownCameraFunctionSet("homing");
cameraView.downSettings.FindCircles = true;
retryMidpoint:
loc = FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 2, .1);
if (loc == null)
{
ShowSimpleMessageBox("Error, middle point not found - try again");
return;
}
if (cameraView.ShowMessageBox("Please verify point placement. Is point found correctly?", "verification",
MessageBoxButtons.YesNo) == DialogResult.No) { goto retryMidpoint; }
}
calibrateAllStartingPoint = loc;
instructions_label.Text = "Finding point at X axis";
Cnc.CNC_XY(calibrateAllStartingPoint.X + 185.5, calibrateAllStartingPoint.Y);
if (Cnc.Simulation)
{
loc = new PartLocation();
loc.X = calibrateAllStartingPoint.X + 185.5;
loc.Y = calibrateAllStartingPoint.Y - 1;
}
else
{
retryXPoint:
loc = FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 2, .1);
if (loc == null)
{
ShowSimpleMessageBox("Error, x axis point not found - try again");
return;
}
if (cameraView.ShowMessageBox("Please verify point placement. Is point found correctly?", "verification",
MessageBoxButtons.YesNo) == DialogResult.No) { goto retryXPoint; }
}
calibrateAllEdgeX = loc;
double paperRotation;
paperRotation = Math.Asin((calibrateAllEdgeX.X - calibrateAllStartingPoint.X) /
Math.Sqrt(Math.Pow(calibrateAllEdgeX.X - calibrateAllStartingPoint.X, 2) +
Math.Pow(calibrateAllEdgeX.Y - calibrateAllStartingPoint.Y, 2)));
instructions_label.Text = "Finding point at Y axis using a calculated rotation of " +
(paperRotation / Math.PI * 180).ToString() + " degrees";
PartLocation projectedEdgeY = new PartLocation();
projectedEdgeY.X = calibrateAllStartingPoint.X + 185.5 * Math.Sin(paperRotation - (Math.PI / 2));
projectedEdgeY.Y = calibrateAllStartingPoint.Y + 185.5 * Math.Cos(paperRotation - (Math.PI / 2));
Cnc.CNC_XY(projectedEdgeY);
if (Cnc.Simulation)
{
loc = new PartLocation();
loc.X = calibrateAllStartingPoint.X - 2;
loc.Y = calibrateAllStartingPoint.Y + 185.5;
}
else
{
cameraView.SetDownCameraFunctionSet("homing");
cameraView.downSettings.FindCircles = true;
retryYPoint:
loc = FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 4, .1);
if (loc == null)
{
ShowSimpleMessageBox("Error, y axis point not found - try again");
return;
}
if (cameraView.ShowMessageBox("Please verify point placement. Is point found correctly?", "verification",
MessageBoxButtons.YesNo) == DialogResult.No) { goto retryYPoint; }
}
calibrateAllEdgeY = loc;
double yOffset = calibrateAllEdgeY.Y - projectedEdgeY.Y;
if (yOffset > 0.3 || yOffset < -0.3)
{
switch (ShowMessageBox("Y offset off by " + Math.Round(yOffset, 3).ToString() +
"mm, try again?", "Operation failed", MessageBoxButtons.AbortRetryIgnore))
{
case DialogResult.Retry:
goto retrySkew;
break;
case DialogResult.Ignore:
goto ignoreSkewError;
}
//sender.BackColor = ChangeNeedle_button.BackColor;
instructions_label.Text = "";
instructions_label.Visible = false;
calibrateAllStage = 0;
return;
};
ignoreSkewError:
double skew = (calibrateAllEdgeY.X - projectedEdgeY.X) / 185.5;
instructions_label.Text = "Calculated skew is " + Math.Round(skew, 5).ToString()
+ ", Y offset is " + Math.Round(yOffset, 3) +
" press next to calibrate down camera mm/pixel values";
SquareCorrection_textBox.Text = skew.ToString();
setting.CNC_SquareCorrection = skew;
CNC.SquareCorrection = skew;
Thread.Sleep(2000);
instructions_label.Text = "Verifying data";
calibrateAllStartingPoint.X -= calibrateAllStartingPoint.Y * setting.CNC_SquareCorrection;
Cnc.CNC_XY(calibrateAllStartingPoint);
loc = FindPositionAndMoveToClosest(Shapes.ShapeTypes.Circle, 4, .1);
if (cameraView.ShowMessageBox("Please verify point placement. Is point found correctly?", "verification",
MessageBoxButtons.YesNo) == DialogResult.No) { goto retrySkew; }
calibrateAllStartingPoint = loc;
Cnc.CNC_XY(calibrateAllStartingPoint.X + 185.5, calibrateAllStartingPoint.Y);
if (cameraView.ShowMessageBox("Please verify point placement. Is point found correctly?", "verification",
MessageBoxButtons.YesNo) == DialogResult.No) { goto retrySkew; }
Cnc.CNC_XY(calibrateAllStartingPoint.X, calibrateAllStartingPoint.Y + 185.5);
if (cameraView.ShowMessageBox("Please verify point placement. Is point found correctly?", "verification",
MessageBoxButtons.YesNo) == DialogResult.No) { goto retrySkew; }
}
private bool CNC_MoveIsSafe_m(PartLocation p)
{
var m = Global.Instance.Locations.GetLocation("max machine");
if ((p.X < -3.0) || (p.X > m.X) || (p.Y < -3.0) || (p.Y > m.Y)) {
ShowSimpleMessageBox("Attempt to move outside safe limits " + p);
return false;
}
if (_Zguard && IsNeedleDown()) {
//needle is down - instead of bitching, just move it up first
CNC_Z(0);
}
return true;
}
public void SetPosition(PartLocation loc)
{
if (Grid.CurrentCell == null) return;
Nozzle selected = (Nozzle)Grid.CurrentCell.OwningRow.DataBoundItem;
selected.setPosition(loc.X, loc.Y, 0);
}
public double DistanceFrom(PartLocation p)
{
return(DistanceFrom(p.X, p.Y));
}
/// <summary>
/// The furthest distance a fiducial moved
/// </summary>
/// <returns></returns>
public double MaxFiducialMovement()
{
// Global.Instance.DisplayText(String.Format("Offset = {0} Angle = {1}", new PartLocation(Offset) - Global.Instance.Locations.GetLocation("PCB Zero") , Angle), System.Drawing.Color.Purple);
List<double> distances = new List<double>();
for (int i = 0; i < source.Count; i++) {
var s = new PartLocation(source[i]);
var d = new PartLocation(dest[i]);
var m = Map2(source[i]);
// Global.Instance.DisplayText(String.Format("Source {0} Dest {1} Mapped {2}", s, d, m), System.Drawing.Color.Purple);
distances.Add(Map2(source[i]).DistanceTo(dest[i]));
}
return distances.Max();
}
public double DistanceTo(PartLocation p)
{
return(Math.Sqrt(Math.Pow(X - p.X, 2) + Math.Pow(Y - p.Y, 2)));
}
// Part Orientation = orientation if tape is perfectly oriented the way it is oriented
// deltaOrientation = how far offf the tape is from it's stated orientation
public PartLocation GetPartLocation(int componentNumber)
{
PartLocation part;
if (FirstPart != null) {
part = GetPartBasedLocation(componentNumber);
} else {
var offset = new PartLocation(componentNumber * PartPitch + HoleToPartSpacingX, HoleToPartSpacingY);
// add the vector to the part rotated by the tape orientation
part = new PartLocation(FirstHole) + offset.Rotate(TapeOrientation.ToRadians());
}
// add deviation from expected orientation to part orientation
var deltaOrientation = tapeOrientation.ToRadians() - OriginalTapeOrientationVector.ToRadians();
part.A = (OriginalPartOrientationVector.ToRadians() + deltaOrientation) * 180d / Math.PI;
return part;
}
public double DistanceFrom(PartLocation p)
{
return DistanceFrom(p.X, p.Y);
}
